In order to realize the control of the cooperative robot, the control system of the cooperative robot was studied. On the premise of ensuring the robustness and real-time of the system, it is proposed to build a control system based on Ubuntu system combined with Robot Operating System (ROS), and use Controller Area Network (CAN) communication to build a collaborative robot. Finally, through the simulation experiment and the physical robot control experiment, the application effect of the collaborative robot control system is verified. The experimental results show that the cooperative robot control system has the basic working ability to control the coordinated robot for path planning, and can well establish the communication between the upper and lower machines and control the cooperative robot. At the same time, the control system has the characteristics of modularity, high portability, clear frame, and low delay.